A bearing clearance control method, device, equipment and readable storage medium

Abstract

The application relates to the technical field of rolling equipment, and discloses a bearing gap elimination control method, device, equipment and readable storage medium, which comprises the following steps: obtaining working condition data reflecting the stress state of a working shaft of a rolling equipment during operation; constructing a mechanics balance model by using the working condition data, and calculating the supporting reaction force data of a main bearing according to the mechanics balance model; determining the minimum gap elimination control force required for realizing gap elimination according to the supporting reaction force data and a preset gap elimination determination condition; generating a control instruction based on the minimum gap elimination control force, and sending the control instruction to an executing mechanism to adjust the gap elimination control force applied to the working shaft. The application can automatically match appropriate gap elimination control forces under different working conditions, avoids the situations of insufficient gap elimination and excessive gap elimination, realizes more stable and controllable bearing gaps, reduces abnormal wear and impact, and improves the operation stability and service life of the rolling equipment as a whole.

Description

Technical Field

[0001] This application relates to the field of roller pressing equipment technology, and in particular to a bearing backlash control method, device, equipment and readable storage medium. Background Technology

[0002] In roller pressing equipment and other high-precision mechanical transmission systems, preload control of bearing clearance is typically required to improve the rotational stability and support rigidity of the spindle. Currently, the mainstream clearance reduction adjustment method still relies primarily on manual experience. Operators manually tighten the set screw or apply initial pressure to complete the preload setting, with no further dynamic intervention during subsequent operation. Although some equipment has introduced basic pressure monitoring functions, its control strategy is mostly open-loop, meaning a fixed hydraulic or mechanical preload is preset and remains constant throughout the entire operating cycle. This method is simple to implement, relies on experience calibration before the equipment leaves the factory, and can maintain a basic clearance reduction effect under scenarios with small load variations and stable operating conditions, making it a common practice in current engineering applications.

[0003] However, the aforementioned control methods have significant limitations: Because real-time operating parameters are not introduced as feedback input, the preload cannot be dynamically adjusted according to the actual load, leading to insufficient preload or overload problems under complex operating conditions such as sudden changes in rolling force, speed switching, or mixed material production. When the preload is too low, the internal clearance of the bearing cannot be effectively eliminated, affecting the spindle rotation accuracy; while when the preload is too high, it may cause shaft bending deformation or premature bearing wear, thus reducing system life. Furthermore, existing control lacks a decision model based on physical mechanisms, relying solely on fixed thresholds or timed output commands, making it impossible to determine whether the current support state is stable, let alone possess predictive and adaptive adjustment capabilities. This "one-size-fits-all" control mode cannot meet the high-precision, high-reliability, and long-term maintenance-free operation requirements of high-end rolling mills, creating a prominent contradiction between extensive control and stringent performance requirements. Summary of the Invention

[0004] In view of this, embodiments of this application provide a bearing backlash control method, apparatus, device, and readable storage medium, which can effectively solve the problems in the prior art such as bearing backlash control relying on experience setting and difficulty in timely matching appropriate backlash control force under different working conditions, resulting in unstable backlash control.

[0005] In a first aspect, embodiments of this application provide a bearing backlash control method, including: Acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation; A mechanical equilibrium model is constructed using the aforementioned working condition data, and the support reaction force data of the main bearing is calculated based on the mechanical equilibrium model. The minimum gap elimination control force required to achieve gap elimination is determined based on the support reaction force data and the preset gap elimination judgment conditions. A control command is generated based on the minimum backlash control force, and the control command is sent to the actuator to adjust the backlash control force applied to the working shaft.

[0006] In some embodiments, acquiring working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation includes: Torque data characterizing the operation of the working shaft is collected by sensors installed on the roller pressing equipment; The sensor collects rolling force data corresponding to the working shaft; The torque data and the rolling force data are combined in chronological order to form working condition data that reflects the stress state.

[0007] In some embodiments, constructing a mechanical equilibrium model using the operating condition data and calculating the support reaction force data of the main bearing based on the mechanical equilibrium model includes: Based on the torque and rolling force data in the aforementioned working condition data, the friction force data is calculated in conjunction with the preset roll surface radius. The rolling force data, friction force data, preset gravity data, and hydraulic set screw data are decomposed in a preset coordinate system to obtain the force components of each force on the coordinate axis. Based on the force components, establish a set of equilibrium equations corresponding to the mechanical equilibrium model; Solving the equilibrium equations yields the support reaction force data characterizing the main bearing's support state.

[0008] In some embodiments, determining the minimum clearance control force required to achieve clearance elimination based on the support reaction force data and preset clearance elimination criteria includes: The support reaction force data is compared with the preset gap elimination judgment conditions to obtain the gap elimination judgment result; The minimum gap elimination control force is determined based on the gap elimination judgment result.

[0009] In some embodiments, calculating the minimum gap-elimination control force based on the gap-elimination judgment result includes: When the gap elimination judgment result meets the gap elimination judgment condition, the minimum gap elimination control force is calculated based on the support reaction force data; When the gap elimination judgment result does not meet the gap elimination judgment condition, the minimum gap elimination control force is recalculated based on the support reaction force data and the preset adjustment coefficient.

[0010] In some embodiments, generating a control command based on the minimum backlash control force and sending the control command to the actuator to adjust the backlash control force applied to the working shaft includes: Preliminary control commands are generated based on the minimum backlash elimination control force and the preset control strategy; Based on the initial control command, the initial control command is corrected by combining real-time feedback data to obtain the standard control command; The standard control command is sent to the actuator to control the actuator to adjust the backlash control force applied to the working shaft.

[0011] In some embodiments, controlling the actuator to adjust the backlash-eliminating control force applied to the working shaft includes: Receive feedback signals from the actuator; Based on the feedback signal and the preset threshold, it is determined whether the force state of the working shaft has reached the set backlash elimination target; When the judgment result indicates that the gap elimination target has been achieved, the adjustment of the gap elimination control force is stopped; If the judgment result indicates that the backlash elimination target has not been achieved, the backlash elimination control force applied to the working shaft continues to be adjusted.

[0012] Secondly, embodiments of this application provide a bearing backlash control device, comprising: The data acquisition module is used to acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation; The model building module is used to build a mechanical equilibrium model using the working condition data, and to calculate the support reaction force data of the main bearing based on the mechanical equilibrium model. The data processing module is used to determine the minimum gap elimination control force required to achieve gap elimination based on the support reaction force data and the preset gap elimination judgment conditions; The control module is used to generate control commands based on the minimum backlash control force and send the control commands to the actuator to adjust the backlash control force applied to the working shaft.

[0013] Thirdly, embodiments of this application provide a terminal device, the terminal device including a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the bearing clearance reduction control method of the first aspect described above.

[0014] Fourthly, embodiments of this application provide a computer-readable storage medium, wherein when the computer program is executed on a processor, it implements the bearing backlash control method of the first aspect described above.

[0015] The embodiments of this application have the following beneficial effects: They acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation, then construct a mechanical balance model using the working condition data, and calculate the support reaction force data of the main bearing based on the mechanical balance model; next, based on the support reaction force data and preset clearance elimination judgment conditions, they determine the minimum clearance elimination control force required to achieve clearance elimination; finally, they generate control commands based on the minimum clearance elimination control force and send the control commands to the actuator to adjust the clearance elimination control force applied to the working shaft. By directly linking real-time working condition data with bearing stress calculation and clearance elimination control quantity, this application can promptly adjust the clearance elimination control force applied to the working shaft when the bearing support state changes, avoiding clearance problems caused by insufficient clearance elimination or overload problems caused by excessive clearance elimination. This maintains the consistency and stability of bearing clearance control under different working conditions, improving the smoothness of equipment operation and its lifespan reliability. Attached Figure Description

[0016] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 A flowchart of a bearing backlash control method according to an embodiment of this application is shown; Figure 2 Another flowchart of the bearing backlash elimination control method according to an embodiment of this application is shown; Figure 3 Another flowchart of the bearing backlash elimination control method according to an embodiment of this application is shown; Figure 4 This diagram illustrates the force distribution on the side rollers of the roller pressing equipment in the bearing backlash control method according to an embodiment of this application. Figure 5 A schematic diagram of a bearing backlash control method according to an embodiment of this application is shown. Detailed Implementation

[0018] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments.

[0019] The components of the embodiments of this application described and illustrated in the accompanying drawings can be arranged and designed in a variety of different configurations. Therefore, the following detailed description of the embodiments of this application provided in the drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0020] In the following text, the terms "comprising," "having," and their cognates, which may be used in various embodiments of this application, are intended only to indicate a particular feature, number, step, operation, element, component, or combination thereof, and should not be construed as primarily excluding the presence of one or more other features, numbers, steps, operations, elements, components, or combinations thereof, or adding the possibility of one or more combinations thereof. Furthermore, the terms "first," "second," "third," etc., are used only for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0021] Unless otherwise specified, all terms used herein (including technical and scientific terms) shall have the same meaning as commonly understood by one of ordinary skill in the art to which the various embodiments of this application pertain. Terms (such as those defined in commonly used dictionaries) shall be interpreted as having the same meaning as in their contextual meaning in the relevant technical field and shall not be construed as having an idealized or overly formal meaning, unless clearly defined in the various embodiments of this application.

[0022] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0023] Considering the problems of existing technologies, such as bearing backlash elimination relying on experience setting and difficulty in timely matching of appropriate backlash elimination control force under different working conditions, resulting in unstable backlash control, a bearing backlash elimination control method is proposed. This method acquires the working condition data of the working shaft of the roller pressing equipment during operation, constructs a mechanical balance model based on the working condition data, calculates the main bearing support reaction force, further determines the minimum backlash elimination control force, and generates control commands to drive the actuator to adjust the backlash elimination control force applied to the working shaft.

[0024] The bearing backlash control method will be described below with reference to some specific embodiments.

[0025] Figure 1 A flowchart of a bearing backlash reduction control method according to an embodiment of this application is shown. Exemplarily, the bearing backlash reduction control method includes the following steps: Step S100: Obtain working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation.

[0026] The operating condition data is used to characterize the load on the working shaft of the rolling mill during the actual rolling process, including parameters such as the torque applied by the drive motor and the rolling load applied to the working shaft by the film material. By collecting the above parameters during the operation of the rolling mill, the basic data required for subsequent force analysis and balance calculations can be obtained.

[0027] In one alternative embodiment, such as Figure 2 As shown, step S100 includes the following sub-steps: S101 collects torque data characterizing the operation of the working shaft through sensors installed on the rolling equipment.

[0028] The torque data refers to the torque T of the working shaft during actual operation. The sensor is used to detect the torsional torque applied to the working shaft by the motor in real time when the working shaft is in a driven state. Exemplarily, after the rolling mill enters the stable rolling stage, the sensor continuously collects the torque T at multiple moments and records the torque measurement values ​​at each moment as a torque data sequence to characterize the torque change of the working shaft within the corresponding time period.

[0029] S102 collects rolling force data corresponding to the working shaft through sensors.

[0030] The rolling force data refers to the rolling force Fz applied to the working shaft by the film material as it passes through the rolling zone. The sensor is used to detect the normal load acting on the working shaft during the operation of the rolling equipment. Exemplarily, during the process of the film material contacting the working shaft and completing the rolling, the sensor acquires the corresponding rolling force Fz measurements at multiple sampling moments. The rolling force measurements at each sampling moment are recorded as a rolling force data sequence, used to characterize the load applied by the film material to the working shaft during this operating phase.

[0031] S103 combines torque data and rolling force data in chronological order to form working condition data that reflects the stress state.

[0032] The time sequence refers to the time series of sampling moments during the operation of the rolling mill, while the operating condition data is a data set formed by correlating torque and rolling force data within the same time series. For example, the measured torque T obtained at the same time reference is paired with the measured rolling force Fz at the corresponding moment. The torque and rolling force data corresponding to each time point are combined into multiple sets of data records, thus forming an operating condition data set for subsequent force decomposition and mechanical equilibrium model construction.

[0033] Step S200: Construct a mechanical equilibrium model using the working condition data, and calculate the support reaction force data of the main bearing based on the mechanical equilibrium model.

[0034] The mechanical equilibrium model is used to characterize the force relationship of the working shaft of the rolling mill under the support of the main bearing. The operating data includes torque data characterizing the working shaft's operation and the corresponding rolling force data. The support reaction force data characterizes the magnitude of the supporting force provided by the main bearing to the working shaft under different operating conditions. For example, as shown... Figure 3 As shown, when the side roll of the rolling mill is taken as the object, the forces considered in the mechanical equilibrium model include: the main bearing, the support reaction force on the working shaft, the weight of the roll shaft itself, the rolling force applied by the film, the frictional force of the film on the roll, the hydraulic setter force applied by the backlash-free bearing, and the torque applied by the motor. By combining the operating data with the structural parameters, a mechanical equilibrium model describing the balance relationship between the above forces is constructed, and the support reaction force data of the main bearing is calculated based on this model. For example, under stable operating conditions, by decomposing each force in a preset coordinate system and establishing a set of equilibrium equations based on the condition that the resultant force in each direction is zero, the support reaction force under the corresponding operating condition is obtained, forming the support reaction force data.

[0035] In one alternative embodiment, such as Figure 4 As shown, step S200 includes the following sub-steps: S201 calculates friction data based on torque and rolling force data from the working condition data, combined with the preset roll surface radius.

[0036] The torque data represents the torsional load on the working shaft during operation (T), the rolling force data represents the rolling force Fz exerted by the film material on the working shaft, the roll radius is the radius Rr of the roll surface at the contact point between the working shaft and the film material, and the friction force data represents the friction force Ff, which represents the tangential force exerted by the film material on the working shaft. Exemplarily, when the working shaft is in a stable operating state, the torque data T and the preset roll radius Rr are substituted into the equilibrium relationship Ff·Rr=T to obtain the friction force Ff=T / Rr, thereby converting the torque data in the operating condition data into friction force data for force decomposition and force calculation.

[0037] For example, within a stable rolling condition, multiple friction force Ff values ​​are calculated at multiple sampling times using the corresponding torque data T and the same roll surface radius Rr, forming a time-varying friction force data sequence, which is then used to perform force analysis in conjunction with rolling force data and other force parameters.

[0038] S202 decomposes the rolling force data, friction force data, preset gravity data, and hydraulic set screw data in a preset coordinate system to obtain the force components of each force on the coordinate axis.

[0039] The preset coordinate system includes an x-axis and a y-axis for force analysis. Gravity data is represented by gravity G, which characterizes the weight of the roll shaft. Hydraulic setter data is represented by the hydraulic setter force Fd, which characterizes the force applied to the working shaft by the backlash-free bearing via the hydraulic setter. The force components on the coordinate axes include components in the positive x-axis, negative x-axis, positive y-axis, and negative y-axis directions. Exemplarily, in a coordinate system referenced to the working shaft axis, the rolling force Fz, frictional force Ff, gravity G, and hydraulic setter force Fd are decomposed according to preset angular relationships, where the direction angle of the rolling force Fz is... The direction and angle of the main bearing support reaction forces F1 and F2 are related to the design of each roller position (generally within the range of 0° to 10°). It is related to the geometry of the main bearing.

[0040] Specifically, in the negative x-axis direction, it includes Fz·cos 2F2·sin and Ff·sin It contains 2F1·sin in the positive x-axis direction. ; Includes G and Fz·sin in the negative y-axis direction And 2Fd, which contains 2F1·cos in the positive y-axis direction. 、2F2·cos and Ff·cos .

[0041] For example, before performing the force analysis, based on the main bearing offset 'a' and the inner and outer ring radii 'r' and 'R' of the main bearing, the geometric relationship AB=R is used. The support direction angle is calculated using r and OB=a. =arcsin(a / (R r)), combined with rolling force angle The forces described above are decomposed to obtain a complete dataset of force components.

[0042] S203, based on the force components, establish a set of equilibrium equations corresponding to the mechanical equilibrium model.

[0043] The equilibrium equations are used to constrain the force balance relationship of the working shaft in various directions under stable operating conditions, and the force components are used to form the coefficients and constant terms in the equilibrium equations.

[0044] As an example, when the working shaft is in a stable operating state, setting the resultant force in the x and y directions to zero, we can obtain the following set of equilibrium equations: Fz·cos +2F2·sin +Ff·sin =2F1·sin Equation (1) G+Fz·sin +2Fd=2F1·cos +2F2·cos +Ff·cos Equation (2) Where Ff=T / Rr, substituting the expression for frictional force Ff into equations (1) and (2), we can obtain a system of linear equations with F1 and F2 as unknowns and working condition data and structural parameters as knowns.

[0045] For example, under different rolling conditions, the torque T, rolling force Fz, hydraulic setter force Fd, and gravity G at the corresponding moment can be substituted into the above equilibrium equations to form multiple sets of equations for solving the main bearing support reaction force, thereby realizing the modeling of the force state under different working conditions.

[0046] S204, solve the equilibrium equations to obtain the support reaction force data characterizing the support state of the main bearing.

[0047] Among them, the support reaction force data includes the support reaction forces F1 and F2 corresponding to the main bearing 1 and the main bearing 2 under the working condition, and the equilibrium equation set is equation (1) and equation (2) constructed based on the above force components.

[0048] Demonstratively, by solving equations (1) and (2) simultaneously, based on the known rolling force Fz, frictional force Ff, hydraulic setter force Fd, gravity G, and angle... , The support reaction force F1 of main bearing 1 and the support reaction force F2 of main bearing 2 are calculated, thus forming the support reaction force data for subsequent clearance elimination determination.

[0049] ; ; In other embodiments, F1 and F2 are solved for multiple different hydraulic jacking screw force settings, so that support reaction force data that meets specific gap elimination judgment conditions can be selected in subsequent steps to determine the corresponding minimum gap elimination control force.

[0050] Step S300: Determine the minimum gap elimination control force required to achieve gap elimination based on the support reaction force data and the preset gap elimination judgment conditions.

[0051] Among them, the support reaction force data are the support reaction forces F1 and F2 corresponding to main bearing 1 and main bearing 2 obtained based on the mechanical equilibrium model. The clearance elimination judgment condition is used to limit the support state of the main bearing on the working shaft to meet the clearance elimination requirement. The minimum clearance elimination control force is used to characterize the lower limit of the hydraulic jacking screw force used to ensure that the support relationship of the main bearing meets the clearance elimination judgment condition under the current working condition.

[0052] For example, when the side roll of the rolling mill is taken as the object, the support reaction force data obtained from the mechanical analysis includes the support reaction force F1 corresponding to main bearing 1 and the support reaction force F2 corresponding to main bearing 2. The clearance elimination judgment condition can be set to F1>0 and F2>0 to ensure that the work roll is reliably pressed on the two support points at the position of the main bearing. In the presence of rolling force Fz, by analyzing the analytical expression of the support reaction force, it can be found that F1 is greater than F2. Therefore, F2>0 is taken as the key condition for judging whether the clearance elimination requirement is met, and on this basis, the minimum clearance elimination control force required to achieve clearance elimination is determined.

[0053] For example, given a set of working condition data and structural parameters, by combining F1 and F2 obtained through the aforementioned mechanical equilibrium solution with the backlash elimination judgment condition, the minimum value of the hydraulic jacking screw force under the corresponding working condition can be deduced, and this value can be used as the target basis for subsequent control.

[0054] In an optional embodiment, step S300 includes the following sub-steps: S301, compare the support reaction force data with the preset gap elimination judgment conditions to obtain the gap elimination judgment result.

[0055] Among them, the clearance elimination judgment condition is the constraint relationship between the main bearing support reaction forces F1 and F2, and the clearance elimination judgment result is used to characterize whether the current support reaction force data meets the clearance elimination judgment condition.

[0056] As an example, when the goal is to stably support the working shaft on the two main bearing supports, F1>0 and F2>0 are set as the backlash elimination criteria, and F2>0 is set as the key criteria under the premise that the rolling force Fz is known to exist. The solution of the support reaction force F2 is compared with the zero value. When F2 is greater than zero, the backlash elimination judgment result is set to meet the backlash elimination criteria. When F2 is less than or equal to zero, the backlash elimination judgment result is set to not meet the backlash elimination criteria.

[0057] For example, by repeatedly performing the mechanical equilibrium solution steps under different hydraulic jacking screw force settings, multiple sets of corresponding support reaction force data F1 and F2 can be obtained. By comparing each set of support reaction force data with the backlash elimination judgment conditions, a set of backlash elimination judgment results is formed for subsequent minimum backlash elimination control force determination.

[0058] S302, determine the minimum gap elimination control force based on the gap elimination judgment result.

[0059] Among them, the minimum backlash control force corresponds to the hydraulic jacking force value when the backlash determination condition is just met, and the backlash determination result is used to indicate whether the current support reaction force data meets the backlash determination condition.

[0060] In one alternative implementation, S302 includes: When the gap elimination judgment result meets the gap elimination judgment condition, the minimum gap elimination control force is calculated based on the support reaction force data. When the gap elimination judgment result does not meet the gap elimination judgment condition, the minimum gap elimination control force is recalculated based on the support reaction force data and the preset adjustment coefficient.

[0061] When the clearance elimination judgment result meets the clearance elimination judgment condition, the minimum clearance elimination control force is calculated based on the support reaction force data. That is, under the condition that F2>0, the lower limit of the hydraulic jacking screw force corresponding to the current working condition is obtained by using the analytical expression of the support reaction force F2.

[0062] The minimum backlash-free set screw force is defined as follows:

[0063] When the gap elimination judgment result does not meet the gap elimination judgment condition, the minimum gap elimination control force is recalculated based on the support reaction force data and the preset adjustment coefficient. That is, an adjustment coefficient of 1.5 is introduced on the basis of the original hydraulic jacking force to correct the analytical relationship between the support reaction forces F1 and F2, and obtain a new hydraulic jacking force value that satisfies the condition F2>0.

[0064] For example, under actual stable operating conditions, the hydraulic jacking screw force obtained by inversely calculating the support reaction force can be defined as the minimum backlash elimination jacking screw force Fx. Based on this, an adjustment coefficient to reflect equipment fluctuations is introduced. Multiplying Fx by this adjustment coefficient yields the modified minimum backlash elimination control force, which can then be used as a reference value for generating control commands in subsequent control steps.

[0065] Step S400: Generate a control command based on the minimum backlash control force and send the control command to the actuator to adjust the backlash control force applied to the working shaft.

[0066] Among them, the minimum backlash control force is the lower limit of the control quantity used to achieve backlash elimination, which is determined based on the support reaction force data and the preset backlash determination conditions. The control command is used to instruct the actuator to output a hydraulic set screw force that matches the minimum backlash control force. The actuator is used to adjust the backlash control force applied to the working shaft after receiving the control command.

[0067] For example, after obtaining the minimum backlash control force, the minimum backlash control force can be combined with a preset adjustment coefficient to obtain the target backlash control quantity for actual control. This target backlash control quantity is then used as the basis for generating control commands, which are then sent to the hydraulic set screw actuator connected to the working shaft to drive the hydraulic set screw to output the corresponding set screw force.

[0068] For example, when the hydraulic set screw force is the controlled object, the obtained minimum backlash elimination set screw force can be used as the base value. Based on this, the target output value in the control command can be corrected by combining the equipment operation fluctuation setting coefficient, so that the hydraulic set screw force output by the actuator matches the minimum backlash elimination control force, thereby realizing backlash elimination control of the working shaft under different working conditions.

[0069] In an optional embodiment, step S400 includes the following sub-steps: S401 generates preliminary control commands based on the minimum backlash elimination control force and the preset control strategy.

[0070] The control strategy is a set of control rules used to map the minimum backlash elimination control force to the control quantity of the actuator, and the initial control command is the first control command generated based on the minimum backlash elimination control force and in accordance with the control strategy.

[0071] For example, when the output pressure or force value of the hydraulic jack screw is used as the control object, the correspondence between the minimum backlash elimination control force and the output pressure of the hydraulic system can be preset in the control strategy, or the conversion relationship between the minimum backlash elimination control force and the control signal of the actuator can be preset. After obtaining the minimum backlash elimination control force, the control force is substituted into the control strategy to calculate the corresponding output setpoint or control signal parameter, and combined to form the preliminary control command for driving the actuator.

[0072] For example, when an adjustment coefficient exists, the minimum backlash elimination control force can be combined with the adjustment coefficient in the control strategy to obtain the target set screw force setting value, and this setting value can be encoded into the initial control command.

[0073] S402, based on the initial control commands, combines real-time feedback data to correct the initial control commands and obtain standard control commands.

[0074] Among them, real-time feedback data is data reflecting the current operating status obtained during the execution of preliminary control commands, and standard control commands are control commands that have been modified based on the preliminary control commands.

[0075] As an example, during the process of the actuator outputting the backlash elimination control force according to the initial control command, updated torque and rolling force data can be obtained through sensors installed on the equipment. The updated data is then input into the control logic as real-time feedback data. After obtaining the real-time feedback data, the mechanical equilibrium model is reconstructed based on the updated working condition data, and the support reaction force data of the main bearing is solved. The calculated support reaction force data is compared with the preset backlash elimination judgment conditions to determine whether the currently output backlash elimination control force matches the minimum backlash elimination control force. Based on the comparison results, the control quantity in the initial control command is corrected to form a standard control command.

[0076] For example, when the support reaction force data F2 calculated based on real-time feedback data is close to zero or deviates from it, the hydraulic jack screw output setting value can be increased or decreased based on the initial control command. The corrected setting value is then written into the standard control command to control the subsequent execution process.

[0077] In other implementations, the real-time feedback data may also include state variables within the actuator, such as the actual output pressure of the hydraulic system, so that changes in operating conditions and the actuator state can be considered simultaneously when correcting control commands.

[0078] S403 sends standard control commands to the actuator, controlling the actuator to adjust the backlash control force applied to the working shaft.

[0079] The actuator, upon receiving a standard control command, adjusts the output of the hydraulic jack screw according to the control parameters contained in the command, thereby changing the backlash-eliminating control force applied to the working shaft. Exemplarily, after generating the standard control command, it is sent to the hydraulic jack screw actuator connected to the working shaft via a preset communication channel. After parsing the control command, the actuator adjusts the output state of the hydraulic system according to the target output parameters carried in the command, updating the backlash-eliminating control force applied by the hydraulic jack screw to the working shaft according to the standard control command.

[0080] In one alternative implementation, S403 includes: Receive feedback signals from the actuator.

[0081] Among them, the feedback signal is used to characterize the working status of the actuator after executing the standard control command; Based on the feedback signal and the preset threshold, it is determined whether the force state of the working axis has reached the set backlash elimination target. If the determination result indicates that the backlash elimination target has been reached, the adjustment of the backlash elimination control force is stopped. If the determination result indicates that the backlash elimination target has not been reached, the backlash elimination control force applied to the working axis continues to be adjusted.

[0082] The preset threshold is used to limit whether the force state corresponding to the feedback signal falls within the allowable range; when the judgment result indicates that the backlash elimination target has been achieved, the current backlash elimination control force remains unchanged and further adjustment of the backlash elimination control force is stopped; when the judgment result indicates that the backlash elimination target has not been achieved, the control command is modified again based on the feedback signal, and the backlash elimination control force applied to the working axis continues to be adjusted.

[0083] For example, when the feedback signal indicates that the actuator has reached the target output but the updated operating data still does not meet the backlash elimination judgment condition, the adjustment coefficient can be modified in the control strategy, the standard control command can be regenerated and sent to the actuator, so that the backlash elimination control force on the working shaft continues to adjust in the preset direction until the judgment result meets the backlash elimination target.

[0084] Figure 5 A schematic diagram of a bearing backlash control device according to an embodiment of this application is shown. Exemplarily, the device 100 includes: The data acquisition module 110 is used to acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation; The model building module 120 is used to build a mechanical equilibrium model using the working condition data, and to calculate the support reaction force data of the main bearing based on the mechanical equilibrium model. Data processing module 130 is used to determine the minimum gap elimination control force required to achieve gap elimination based on the support reaction force data and preset gap elimination judgment conditions; The control module 140 is used to generate control commands based on the minimum backlash control force and send the control commands to the actuator to adjust the backlash control force applied to the working shaft.

[0085] It is understood that the apparatus of this embodiment corresponds to the method of the above embodiments, and the options in the above embodiments are also applicable to this embodiment, so they will not be described again here.

[0086] This application also provides a terminal device, exemplary of which includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to enable the terminal device to perform the functions of the various modules in the above-described method or apparatus.

[0087] The processor can be an integrated circuit chip with signal processing capabilities. The processor can be a general-purpose processor, including at least one of a Central Processing Unit (CPU), Graphics Processing Unit (GPU), Network Processor (NP), Digital Signal Processor (DSP), Application-Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. The general-purpose processor can be a microprocessor or any conventional processor, capable of implementing or executing the methods, steps, and logic block diagrams disclosed in the embodiments of this application.

[0088] The memory can be, but is not limited to, Random Access Memory (RAM), Read Only Memory (ROM), Programmable Read-Only Memory (PROM), Erasable Programmable Read-Only Memory (EPROM), Electrically Erasable Programmable Read-Only Memory (EEPROM), etc. The memory is used to store computer programs, and the processor can execute the computer programs accordingly after receiving execution instructions.

[0089] This application also provides a computer-readable storage medium for storing the computer program used in the aforementioned terminal device. For example, the computer-readable storage medium may include, but is not limited to, various media capable of storing program code, such as a USB flash drive, a portable hard drive, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings show the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that, in alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0091] In addition, the functional modules or units in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.

[0092] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a smartphone, personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0093] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A bearing backlash control method, characterized in that, The method includes: Acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation; A mechanical equilibrium model is constructed using the aforementioned working condition data, and the support reaction force data of the main bearing is calculated based on the mechanical equilibrium model. The minimum gap elimination control force required to achieve gap elimination is determined based on the support reaction force data and the preset gap elimination judgment conditions. A control command is generated based on the minimum backlash control force, and the control command is sent to the actuator to adjust the backlash control force applied to the working shaft.

2. The bearing backlash control method according to claim 1, characterized in that, The acquisition of working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation includes: Torque data characterizing the operation of the working shaft is collected by sensors installed on the roller pressing equipment; The sensor collects rolling force data corresponding to the working shaft; The torque data and the rolling force data are combined in chronological order to form working condition data that reflects the stress state.

3. The bearing backlash control method according to claim 1, characterized in that, The process of constructing a mechanical equilibrium model using the operating condition data and calculating the support reaction force data of the main bearing based on the mechanical equilibrium model includes: Based on the torque and rolling force data in the aforementioned working condition data, the friction force data is calculated in conjunction with the preset roll surface radius. The rolling force data, friction force data, preset gravity data, and hydraulic set screw data are decomposed in a preset coordinate system to obtain the force components of each force on the coordinate axis. Based on the force components, establish a set of equilibrium equations corresponding to the mechanical equilibrium model; Solving the equilibrium equations yields the support reaction force data characterizing the main bearing's support state.

4. The bearing backlash control method according to claim 1, characterized in that, The step of determining the minimum clearance control force required to achieve clearance elimination based on the support reaction force data and preset clearance elimination judgment conditions includes: The support reaction force data is compared with the preset gap elimination judgment conditions to obtain the gap elimination judgment result; The minimum gap elimination control force is determined based on the gap elimination judgment result.

5. The bearing backlash control method according to claim 4, characterized in that, The step of calculating the minimum gap elimination control force based on the gap elimination judgment result includes: When the gap elimination judgment result meets the gap elimination judgment condition, the minimum gap elimination control force is calculated based on the support reaction force data; When the gap elimination judgment result does not meet the gap elimination judgment condition, the minimum gap elimination control force is recalculated based on the support reaction force data and the preset adjustment coefficient.

6. The bearing backlash control method according to claim 1, characterized in that, The step of generating a control command based on the minimum backlash elimination control force and sending the control command to the actuator to adjust the backlash elimination control force applied to the working shaft includes: Preliminary control commands are generated based on the minimum backlash elimination control force and the preset control strategy; Based on the initial control command, the initial control command is corrected by combining real-time feedback data to obtain the standard control command; The standard control command is sent to the actuator to control the actuator to adjust the backlash control force applied to the working shaft.

7. The bearing backlash control method according to claim 6, characterized in that, The control of the actuator to adjust the backlash-eliminating control force applied to the working shaft includes: Receive feedback signals from the actuator; Based on the feedback signal and the preset threshold, it is determined whether the force state of the working shaft has reached the set backlash elimination target; When the judgment result indicates that the gap elimination target has been achieved, the adjustment of the gap elimination control force is stopped; If the judgment result indicates that the backlash elimination target has not been achieved, the backlash elimination control force applied to the working shaft continues to be adjusted.

8. A bearing backlash control device, characterized in that, include: The data acquisition module is used to acquire working condition data reflecting the stress state of the working shaft of the roller pressing equipment during operation; The model building module is used to build a mechanical equilibrium model using the working condition data, and to calculate the support reaction force data of the main bearing based on the mechanical equilibrium model. The data processing module is used to determine the minimum gap elimination control force required to achieve gap elimination based on the support reaction force data and the preset gap elimination judgment conditions; The control module is used to generate control commands based on the minimum backlash control force and send the control commands to the actuator to adjust the backlash control force applied to the working shaft.

9. A terminal device, characterized in that, The terminal device includes a processor and a memory, the memory storing a computer program, and the processor executing the computer program to implement the bearing backlash control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed on a processor, implements the bearing backlash control method according to any one of claims 1-7.

Images